CN203819377U - Leg linkage mechanism of four-foot robot - Google Patents

Abstract

The utility model relates to a leg linkage mechanism of a quadruped robot, which is characterized in that it comprises a thigh assembly, a lower leg assembly and a hip driver, and the thigh assembly, the lower leg assembly and the hip driver are respectively connected by connecting rods. Connect to form the robot leg linkage mechanism, the connecting rods include thigh swing connecting rod, calf swing connecting rod, hip swing connecting rod; the thigh assembly includes thigh and thigh drive cylinder 3, one end of the thigh swing connecting rod It is pinned to the thigh drive cylinder, and its other end is pinned to the shank swing link and the hip swing link respectively. The other end of the shank swing link is connected to the calf assembly, and the other end of the hip swing link is connected to the hip External drive connection. Beneficial effects: Under the condition of only two leg actuators, the leg movements of natural quadrupeds can be simulated; when lying down and standing up, the thigh actuators in each leg elongate or contract synchronously, driving the feet to move up and down , there is no motion interference between the legs.

Description

Quadruped robot shank link gear

Technical field

The utility model belongs to bionic machine robot mechanism, relates in particular to the quadruped robot shank link gear of a kind of simulating nature circle quadruped leg action.

Background technology

At present, at the leg exercise mechanism field of research of walking robot, main direction is the evolutional structure with mechanical device simulating nature circle quadruped (horse, dog etc.) shank, the movement relation of design shank.But according to anatomical conclusion, through quadruped leg muscle group structure complexity and the One's name is legion of long-term evolution, realize comprehensive simulated, need to design the mechanism of many complexity.But these mechanicals device, due to the restriction of weight, quantity, space, function etc., can not actually be realized.Common structure is between thigh and shank, directly to install hydraulic actuating cylinder additional.Stand up when action completing droping to the ground, foot, except the up-and-down movement of needs, also exists and seesaws, and causes mutually interfering between four legs, cannot drop to the ground and stand up by pulsation-free.At present, the development of walking robot leg exercise mechanism technology progressively be take functional requirement as traction, adopts the mechanism of simplifying as far as possible to realize walking movement function.

Utility model content

The purpose of this utility model is to overcome the deficiency of above-mentioned technology, a kind of quadruped robot shank link gear is provided, the leg action of simulating nature circle quadruped (horse, dog etc.), can only have under the condition of two shank actuators, motion when realizing thigh and shank; In the process of droping to the ground and standing up, between each leg, there is not movement interference phenomenon; Improve leg exercise speed, reduce the required largest motion scope of actuator, adopt the mechanism of simplifying to realize walking movement function.

The utility model for achieving the above object, by the following technical solutions: a kind of quadruped robot shank link gear, it is characterized in that: comprise thigh assembly, shank assembly and hip actuator, between described thigh assembly, shank assembly and hip actuator, connect and compose robot leg link gear respectively by connecting rod, described connecting rod comprises thigh swing connecting bar, shank swing connecting bar, hip swing connecting bar; Described thigh assembly comprises that thigh and thigh drive oil cylinder, one end of described thigh swing connecting bar and thigh drive oil cylinder pin joint, its other end respectively with shank swing connecting bar and hip swing connecting bar pin joint, the described shank swing connecting bar other end is connected with shank assembly, and the described hip swing connecting bar other end is connected with hip actuator.

Described shank assembly comprises foot, shank and knee joint, and described shank and foot form global facility, and shank middle and upper part is hinged by connecting rod jaw and shank swing connecting bar one end, and described shank forms large and small leg and sufficient movable device by knee joint and thigh chain connection.

Described thigh assembly comprises that thigh and thigh drive oil cylinder, and in the middle of described thigh, affixed thigh drives oil cylinder and thigh swing connecting bar, and thigh upper end and hip actuator chain connection form thigh assembly and lift leg and stepping mechanism.

Described hip actuator comprises hip joint, oscillating oil cylinder, driving swing arm and side hydraulic cylinder, described driving swing arm one end and hip oscillating oil cylinder output shaft fixed connection are integrated, the other end and link gear rod hinge connection, described hip joint is by the concentric bearing pin of oscillating oil cylinder both sides, be hinged on fuselage and form and can in Transverse plane, swing up and down around its longitudinal axis, drive shank left/right movement device, described oscillating oil cylinder and side hydraulic cylinder one end are hinged, and the described side hydraulic cylinder other end is to slide up and down with fuselage and is connected.

Beneficial effect:, the leg action of simulating nature circle quadruped (horse, dog etc.), and provided the method for calculating of shank inverse kinematics.The utility model can only have under the condition of two shank actuators, motion when realizing thigh and shank, when given sufficient end motion track, can conveniently solve two required drive displacement of actuators difference, and improve leg exercise speed, reduce the required largest motion scope of actuator.Quadruped robot shank link gear is in the process of droping to the ground and standing up, and the thigh actuator (hydraulic actuating cylinder) in every leg synchronously extends or shrinks, and drives foot up-and-down movement, completes desired action, and does not have movement interference phenomenon between each leg.

Accompanying drawing explanation

Fig. 1 is structural representation of the present utility model;

Fig. 2 is the link work schematic diagram that the utility model is droped to the ground;

Fig. 3 is the link work schematic diagram that the utility model stands up;

Fig. 4 is the schematic diagram calculation of computing formula.

In figure: 1, fuselage, 2, thigh swing connecting bar, 3, thigh drives oil cylinder, 4, thigh, 5, knee joint, 6, foot, 7, shank, 8, shank swing connecting bar, 9, hip swing connecting bar, 10, drive swing arm 11, hip joint 12, oscillating oil cylinder 13, side hydraulic cylinder, 14, connecting rod jaw.

The specific embodiment

Below in conjunction with preferred embodiment, describe the specific embodiment of the present utility model in detail.

Embodiment

Refer to accompanying drawing 1, the utility model provides a kind of quadruped robot shank link gear, comprise thigh assembly, shank assembly and hip actuator, between described thigh assembly, shank assembly and hip actuator, by connecting rod, connect and compose robot leg link gear respectively, have load-carrying capacity strong, drive convenient, rational in infrastructure, the simple feature of gait algorithm.Described connecting rod comprises thigh swing connecting bar 2, shank swing connecting bar 8, hip swing connecting bar 9; Described thigh assembly comprises that thigh 4 and thigh drive oil cylinder 3, one end of described thigh swing connecting bar 2 and thigh drive oil cylinder 3 pin joints, its other end respectively with shank swing connecting bar 8 and hip swing connecting bar 9 pin joints, the described shank swing connecting bar other end is connected with shank assembly, and the described hip swing connecting bar other end is connected with hip actuator.Described shank assembly comprises foot 6, shank 7 and knee joint hinge 5, described shank and foot form global facility, shank middle and upper part is hinged by connecting rod jaw 14 and shank swing connecting bar one end, and described shank forms large and small leg and sufficient movable device by knee joint and thigh chain connection.Described thigh assembly comprises that thigh 4 and thigh drive oil cylinder 3, and in the middle of described thigh, affixed thigh drives oil cylinder and thigh swing connecting bar, and thigh upper end and hip actuator chain connection form thigh assembly and lift leg and stepping mechanism.Leg portion is by two stamping steel plates through contiguous block riveting molding, and Main Function is carrying complete machine weight, and centre is used for arranging that thigh drives oil cylinder 3 and thigh swing connecting bar 2.Thigh upper end and hip joint 11 chain connections, its lower end, by knee joint 5 and shank chain connection, drives thigh to rotate around hip joint by oil cylinder and motor, realizes and lifts leg and take a step.Described hip actuator comprises hip joint 11, oscillating oil cylinder 12, drives swing arm 10 and side hydraulic cylinder 13, described driving swing arm one end and hip oscillating oil cylinder output shaft fixed connection are integrated, the other end and link gear rod hinge connection, described hip joint is by the concentric bearing pin of oscillating oil cylinder both sides, be hinged on fuselage, formation can swing up and down around its longitudinal axis in Transverse plane, drive shank left/right movement device, described oscillating oil cylinder and side hydraulic cylinder one end are hinged, and the described side hydraulic cylinder other end is to slide up and down with fuselage 1 and is connected.Hip joint both can rotate before and after robot transverse axis, and actuating device is HM Hydraulic Motor or oscillating oil cylinder, drove shank take a step forward and produce propulsive effort; The hydraulic ram of lateral arrangement also can swing up and down in Transverse plane around the longitudinal axis by the hinge-point promotion motor being contained on motor case simultaneously, drives shank sway, to maintain robot, in horizontal stability and realization, turns to.

Wherein leg link mechanism consists of three groups of connecting rods, connects respectively shank, thigh and hip swing arm.Main Function is when hip CD-ROM drive motor locking does not turn, hip swing arm is fixed, thigh oil cylinder pushing equiarm rocking lever rotates, and lower end connects shank by shank swing connecting bar 8 and swings, and thigh swing connecting bar promotes thigh swing by the hip swing connecting bar being connected on hip simultaneously.Realize the action of having squatted, this structure can reduce the driving stroke of hip hydraulic actuating cylinder.

Refer to accompanying drawing 2-3, basic functional principle

In figure, A, B, C, D, E, F, J, H, G are shank node

(1) drop to the ground and stand up

Quadruped robot to drop to the ground with standing up be two contrary motion processes.Feature in the utility model is in the process of droping to the ground and standing up, and the thigh actuator (hydraulic actuating cylinder) in every leg synchronously extends or shrinks, and drives foot up-and-down movement, completes desired action, and does not have movement interference phenomenon between each leg.

Common structure (directly installing the scheme of hydraulic actuating cylinder between thigh and shank additional) is stood up when action completing droping to the ground, and foot, except the up-and-down movement of needs, also exists and seesaws, and causes mutually interfering between four legs, cannot drop to the ground and stand up by pulsation-free.

(2) take a step

The action of taking a step of quadruped robot shank is the key of walking.Feature of the present utility model be hydraulic actuating cylinder on thigh when driving link gear, what can guarantee foot normally lifts leg action, and the actuator of hip (oscillating oil cylinder) can promote swing arm CJ swing, realizes thigh forward swing, completes the action of taking a step.Therefore thigh driving cylinder is responsible for console leg height, and hip oscillating oil cylinder is responsible for controlling step size, is good decoupling zero relation between the two, has simplified the complexity of shank control algorithm.

(3) connecting rod mechanism

The link gear of shank has guaranteed the annexation of thigh, shank and hip.Its feature one is no matter shank is that feature two is the existence due to link gear in supporting mutually or in swinging phase state, can guaranteeing that the motion of shank meets the requirements, and can utilize the load-carrying capacity of the effect enhancing system of its swing arm cylinder cylinder.

Refer to accompanying drawing 4, inverse kinematics computing formula

The calculating of shank inverse kinematics is at known needed foot end target location x ₁y ₁, with the coordinate x of hip ₀y ₀relative position relation, utilize scantling of structure, try to achieve needed two actuators: the target Z of thigh hydraulic actuating cylinder, hip oscillating oil cylinder ₁displacement Z ₀with, its computing formula is as follows:

The displacement computing formula of thigh hydraulic actuating cylinder:

$Z_0=$

$\frac{\sqrt{{(u_1-(u_0+\frac{g\·(x_0-u_0)}{a}+\frac{h\·(-y_0+v_0)}{a})-\frac{c\·(-u_1+u_2+\frac{(-{\mathrm{cc}}^2+d^2+{d_5}^2)\·(u_1-u_2)}{2\·{d_5}^2}-\frac{d_7\·(-v_1+v_2)}{2\·{d_5}^2})}{\mathrm{cc}})}^2}}{+{(v_1-(v_0+\frac{h\·(x_0-u_0)}{a}-\frac{g\·(-y_0+v_0)}{a})+\frac{c\·(v_1-(v_2-\frac{d_7\·(u_1-u_2)}{2\·{d_5}^2}+\frac{(-{\mathrm{cc}}^2+d^2+{d_5}^2)\·(v_1-v_2)}{2\·{d_5}^2}))}{\mathrm{cc}})}^2}$

In formula

$d_0=\sqrt{{(x_0-x_1)}^2+{(y_0-y_1)}^2}$

$d_2=\sqrt{a+e+d_0}\·\sqrt{a+e-d_0}\·\sqrt{a-e+d_0}\·\sqrt{-a+e+d_0}$

$u_0=x_0+\frac{(a^2-e^2+{d_0}^2)\·({-x}_0+x_1)}{2\·{d_0}^2}-\frac{d_2\·(y_0-y_1)}{2\·{d_0}^2}$

$u_1=u_0+\frac{b\·(x_0-u_0)}{a}$

$v_0=y_0-\frac{d_2\·({-x}_0+x_1)}{2\·{d_0}^2}+\frac{(a^2-e^2+{d_0}^2)\·({-y}_0+y_1)}{2\·{d_0}^2}$

$u_2=x_1-\frac{f\·(x_1-u_0)}{e}$

$v_1=v_0-\frac{b\·({-y}_0+v_0)}{a}$

$v_2=y_1+\frac{f\·(-y_1+v_0)}{e}$

$d_5=\sqrt{{\left({-u}_1{+u}_2\right)}^2+{({-v}_1+v_2)}^2}$

$d_7=\sqrt{\mathrm{cc}+d+d_5}\·\sqrt{\mathrm{cc}+d-d_5}\·\sqrt{\mathrm{cc}-d+d_5}\·\sqrt{-\mathrm{cc}+d+d_5}$

The angular transposition computing formula Z of hip oscillating oil cylinder ₁=

$\arctan \left(\frac{y_0-(y_0+\frac{d_{11}\·({-x}_0+u_3)}{2\·{d_9}^2}+\frac{({{-a}_0}^2+{a_1}^2{+d_9}^2)\·({-y}_0+v_3)}{2\·{d_9}^2})}{\frac{({{-a}_0}^2+{a_1}^2+{d_9}^2)\·({-x}_0+u_3)}{2\·{d_9}^2}+\frac{d_{11}\·(y_0-v_3)}{2\·{d_9}^2}}\right)$

In formula

$d_0=\sqrt{{(x_0-x_1)}^2+{(y_0-y_1)}^2}$

$d_2=\sqrt{a+e+d_0}\·\sqrt{a+e-d_0}\·\sqrt{a-e+d_0}\·\sqrt{-a+e+d_0}$

$u_0=x_0+\frac{(a^2-e^2+{d_0}^2)\·({-x}_0+x_1)}{2\·{d_0}^2}-\frac{d_2\·(y_0-y_1)}{2\·{d_0}^2}$

$u_2=x_1+\frac{f\·(x_1-u_0)}{e}$

$u_1=u_0+\frac{b\·(x_0-u_0)}{a}$

$v_0=y_0-\frac{d_2\·({-x}_0+x_1)}{2\·{d_0}^2}+\frac{(a^2-e^2+{d_0}^2)\·({-y}_0+y_1)}{2\·{d_0}^2}$

$v_1=v_0-\frac{b\·({-y}_0+v_0)}{a}$

$v_2=y_1+\frac{f\·(-y_1+v_0)}{e}.$

The above, be only preferred embodiment of the present utility model, not structure of the present utility model done to any pro forma restriction.Any simple modification, equivalent variations and modification that every foundation technical spirit of the present utility model is done above embodiment, all still belong in the scope of the technical solution of the utility model.

Claims (4)

1. a quadruped robot shank link gear, it is characterized in that: comprise thigh assembly, shank assembly and hip actuator, between described thigh assembly, shank assembly and hip actuator, connect and compose robot leg link gear respectively by connecting rod, described connecting rod comprises thigh swing connecting bar, shank swing connecting bar, hip swing connecting bar; Described thigh assembly comprises that thigh and thigh drive oil cylinder, one end of described thigh swing connecting bar and thigh drive oil cylinder hinged, its other end is hinged with shank swing connecting bar and hip swing connecting bar respectively, the described shank swing connecting bar other end is connected with shank assembly, and the described hip swing connecting bar other end is connected with hip actuator.

2. quadruped robot shank link gear according to claim 1, it is characterized in that: described shank assembly comprises foot, shank and knee joint, described shank and foot form global facility, shank middle and upper part is hinged by connecting rod jaw and shank swing connecting bar one end, and described shank forms large and small leg and sufficient movable device by knee joint and thigh chain connection.

3. quadruped robot shank link gear according to claim 1 and 2, it is characterized in that: described thigh assembly comprises that thigh and thigh drive oil cylinder, in the middle of described thigh, affixed thigh drives oil cylinder and thigh swing connecting bar, and thigh upper end and hip actuator chain connection form thigh assembly and lift leg and stepping mechanism.

4. quadruped robot shank link gear according to claim 3, it is characterized in that: described hip actuator comprises hip joint, oscillating oil cylinder, drive swing arm and side hydraulic cylinder, described driving swing arm one end and hip oscillating oil cylinder output shaft fixed connection are integrated, the other end and link gear rod hinge connection, described hip joint is by the concentric bearing pin of oscillating oil cylinder both sides, be hinged on fuselage, the driving shank left-right swinging mechanism that formation can swing up and down around its this axle in Transverse plane, described oscillating oil cylinder and side hydraulic cylinder one end are hinged, its output shaft and thigh upper end are hinged, the described side hydraulic cylinder other end is to slide up and down with fuselage and is connected.